CN110018239A - A kind of carpet detection method - Google Patents
A kind of carpet detection method Download PDFInfo
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- CN110018239A CN110018239A CN201910268838.1A CN201910268838A CN110018239A CN 110018239 A CN110018239 A CN 110018239A CN 201910268838 A CN201910268838 A CN 201910268838A CN 110018239 A CN110018239 A CN 110018239A
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
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- G01N29/12—Analysing solids by measuring frequency or resonance of acoustic waves
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Abstract
The present invention discloses a kind of carpet detection method, comprising: step 1, control mobile robot start sound transducer collected sound signal in ground medium motion to be detected；Step 2, the voice signal for acquiring step 1 pre-process, and extract corresponding range value on predeterminated frequency component；Whether the range value that step 3, judgment step 2 obtain is less than corresponding preset threshold, is to determine that ground medium to be detected is carpet, otherwise continues to control sound transducer collected sound signal；Wherein, predeterminated frequency component is the frequency values in the response frequency range of sound transducer.The effect for improving carpet detection identification, reduces erroneous judgement.
Description
Technical field
The invention belongs to robot carpet detection technique field more particularly to a kind of carpet detection sides based on voice signal
Method.
Background technique
Chinese patent 2016107654250 discloses the carpet determination method and system of a kind of sweeping robot, especially by
The infrared light for the infrared distance sensor acquisition ground return being arranged downward being arranged on sweeping robot, according to infrared light
Ground surface reflectance detects carpet, but if when sweeping robot moves under the scenes such as strong light environment or black carpet,
It is easy to cause erroneous judgement；Japan Patent JP1994141042 discloses a kind of sweeper, installs ultrasound at the suction inlet position of sweeper
Wave launcher and receiver, to detect the reflection levels of the ultrasonic wave from surface to be cleaned, to judge surface to be cleaned
The case where medium, needs that ultrasonic transmitter is additionally driven to emit train of pulse wave at this time, and power consumption is larger, and sends out ultrasonic wave
The position matching requirements of emitter and receiver are high.Therefore, how to make accurately to detect carpet in sweeping robot moving process, at
For one of those skilled in the art's urgent problem.
Summary of the invention
In order to overcome the erroneous judgement under above-mentioned strong light environment or the scene of black carpet to ground medium, the present invention propose with
Lower technical solution:
A kind of carpet detection method, comprising the following steps: step 1, control mobile robot are in ground medium motion to be detected, together
Shi Qidong sound transducer collected sound signal；Step 2, the voice signal for acquiring step 1 pre-process, and extract pre-
If corresponding range value in frequency component；Whether the range value that step 3, judgment step 2 obtain is less than corresponding preset threshold, is
Then determine that ground medium to be detected is carpet, otherwise continues to control sound transducer collected sound signal；Wherein, predeterminated frequency point
Amount is the frequency values in the response frequency range of sound transducer.The technical program extracts predeterminated frequency from the voice signal of acquisition
The range value of the harmonic signal of component, and be compared to complete carpet detection with the preset threshold as reference amplitude value, it mentions
The sensitivity of high carpet detection identification, to avoid ground dieletric reflection light from causing to judge by accident, so that the mobile robot is being moved
Evade carpet when dynamic, and then improves carpet detection effect.
Further, the preprocess method of the step 2 includes: to convert the voice signal that the step 1 acquires to pair
The electric signal answered；The electrical signal amplification of control output, then carry out analog to digital conversion；Control analog to digital conversion after electric signal from when
Domain is converted into frequency domain.The technical solution excludes the influence of individual noise by acquiring uninterrupted voice signal, then
The analog to digital conversion of progress and time-frequency domain conversation then enhance the anti-interference ability of voice signal to be analyzed.
Further, the step 2 specifically includes: according on each Frequency point based on voice signal on the frequency domain
Amplitude distribution extract the range value of high fdrequency component and in conjunction with the response frequency range of the sound transducer internal circuit；Its
In, the predeterminated frequency component includes high fdrequency component；High fdrequency component is the highest frequency of the response frequency range by preset ratio
Value.The technical solution fully takes into account carpet to the assimilation effect difference of the harmonic wave of different frequency sections in voice signal, in sound
Within the scope of the restriction of the response frequency range of sound sensor internal circuit, selects carpet and absorb the amplitude for scattering apparent high fdrequency component
Value makes full use of the overall magnitude feature by the voice signal of ground return on frequency domain, improves the precision of carpet detection, keeps away
Exempt from interference brought by the abnormal sound of extraneous conduction.
Further, the preset ratio is set as 20%.Wherein, the numerical value setting of the preset ratio controls high frequency division
Amount is fallen into the response frequency range of the sound transducer internal circuit, it is ensured that the range value of the high fdrequency component extracted is effective
's.
Further, the step 3 includes: to judge whether the range value of the high fdrequency component is less than high frequency threshold value, is then
Determine that the ground medium to be detected is carpet；Otherwise the sound transducer is controlled to continue to acquire the voice signal on ground；Its
In, corresponding preset threshold includes high frequency threshold value；High frequency threshold value is highest frequency of the voice signal in the response frequency range
The harmonic signal of point reflects the amplitude variations experiment value generated and the reference amplitude set through carpet surface, which passes through in advance
The range value for the voice signal that the threshold value comparison ground medium of setting reflects in real time identifies ground media type, improves sound letter
Number detection ground medium accuracy.
Further, the numerical values recited of the preset threshold is related to the specific material of the ground medium to be detected, root
The numerical values recited of the preset threshold is adjusted according to ground media type, is also solved cleaning assemblies (including water tank rag) and is being situated between more
The clean applicability problem in quality face.
Detailed description of the invention
Fig. 1 is a kind of carpet detection method flow chart based on sound transducer provided in an embodiment of the present invention；
Fig. 2 is the spectrogram of the reflected acoustic signature provided in an embodiment of the present invention from hard floor；
Fig. 3 is the spectrogram of the reflected acoustic signature provided in an embodiment of the present invention from carpet.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.
In the prior art, by sensor capture working environment state parameter come judge the mobile robot whether position
In on carpet, enabling the mobile robot to be effectively shielded from carpet, wherein working environment state parameter includes: infrared
The ground surface reflectance of signal, the operating current of round brush and water tank detect signal in place, it will be understood that, the working environment state
Parameter can be used to judge whether the mobile robot is located on carpet when including two kinds of three of the above parameter, but by
In the light_intensity factor of environment and the error of test data, misjudgement, erroneous judgement may result in, to avoid the above problem, this implementation
Mode by test and analyze sound transducer acquisition voice signal amplitude information come judge the mobile robot whether position
In on carpet, to solve the problems, such as erroneous judgement, misjudgement.
The embodiment of the present invention also provides a kind of carpet detection method based on voice signal, it should be noted that this implementation
The executing subject for the carpet detection method that mode provides is a kind of mobile robot, relies primarily on microprocessor to realize to described
The control of mobile robot.
Detection method includes the following steps for the carpet: step 1, control mobile robot are transported in ground medium to be detected
It is dynamic, while the sound transducer for controlling the mobile robot starts collected sound signal.Step 2 acquires sound transducer
Voice signal pre-processed, in the present embodiment mainly will in the background return input processor that collect into
Row time-frequency domain conversation, and extract from frequency domain the range value of predeterminated frequency component；Wherein, sound transducer sound collected
The main source of sound signal: mobile robot inner components operate generated sound conduction to ground and are reflected back sound biography
The signal receiving end of sensor.Step 3 judges whether the range value of predeterminated frequency component is less than corresponding preset threshold, is to sentence
The fixed ground medium to be detected is carpet, otherwise continues to control the sound transducer collected sound signal；Wherein, wherein
Predeterminated frequency component is the frequency values in the response frequency range of sound transducer.The embodiment of the present invention is by feeding back ground medium
Voice information frequency spectrum is analyzed to judge whether the mobile robot detects carpet, improves the effect of carpet detection identification, subtracts
Judge result by accident less.
As one embodiment, as shown in Figure 1, the carpet detection method specifically includes the following steps:
Step S1, control mobile robot is in ground medium motion to be detected, while starting sound transducer and being acquired sound
Signal；It should be understood that the mobile robot is as a kind of clean robot, and clean robot is on chassis under the present embodiment
Upper assembly cleaning assemblies, for example main brush is assembled for collecting rubbish, the interior blower that sets for dust suction, main brush, the wind of robot interior
Generated sound can be transmitted to ground and reflect when machine operating, usually be easy to cause to damage to carpet when mopping floor operation
It is bad.It cannot be utilized at once to avoid the parameter for obtaining voice signal always during the work time but, cause waste of energy, so,
It can mop floor under mode entering in the actual implementation process, just open the sound transducer acquisition and obtain ground Jie to be detected
It is transmitted to ground when the voice signal of matter reflection, the i.e. main brush of acquisition robot interior, blower operating and is reflected back the sound
The voice signal of sensor.Subsequently into step S2, start to believe the sound of acquisition by the signal processing apparatus of robot interior
It number is pre-processed.
Preferably, the voice signal of the sound transducer acquisition is derived from: the mobile robot inner components
Generated sound conduction is operated to ground and is reflected back the signal receiving end of the sound transducer.So that robot interior zero
Component operates the frequency close to the voice signal of ground return, has subsequent selection Frequency point multilevel iudge carpet with reference to meaning
Justice.Under the present embodiment, the mobile robot as a kind of clean robot for being equipped with the cleaning assemblies such as main brush, blower,
During carrying out cleaning operation, acoustic amplitudes caused by main brush, blower operating are larger, occupy an leading position, so, the sound
The signal receiving end primary recipient of sound sensor operates voice signal produced and through ground return to main brush, blower.
Step S2, uninterrupted voice signal in the sound transducer acquisition predetermined time is controlled, then is exported pair
The electric signal answered；Wherein, the predetermined time is the time of the components continuous running inside robot body, such as main brush rotation
Period can be the integral multiple in the period of voice signal.The transform acoustical signals of acquisition are electric signal by the sound transducer,
Amplified again by the operational amplifier being connected with sound transducer according to certain gain, is then sent into converter and carries out modulus
Transformation enhances the anti-interference ability of voice signal to be analyzed by obtaining digital signal.Specifically, the sound transducer is defeated
The voltage signal of voice signal based on acquisition out, the signal-processing board inside the mobile machine is by the voltage signal according to pre-
Fixed yield value amplification, the signal that then the A-D converter amplifier of the signal processing intralamellar part is handled, then pass through mould
The analog signal of input is transformed to indicate the digital signal of certain proportion voltage value by the coding structure inside A/D converter.Then
Enter step S3.
Step S3, the digitized voice signal of rate-determining steps S2 is converted into frequency domain from time domain, relative to speech simulation signal
Make time-frequency domain conversation, the speed for digitizing the transform acoustical signals of (coded treatment) faster, is interfered less.Further according on frequency domain
Amplitude distribution on each Frequency point based on voice signal, and in conjunction with the response frequency range of the sound transducer internal circuit,
Extract the range value of the high fdrequency component.Subsequently into step S4.The step S2 and step S3 corresponds to abovementioned steps 2,
The i.e. described predeterminated frequency component includes high fdrequency component.The sound of different frequency sections is believed since technical solution fully takes into account carpet
Number absorbability difference, so being conducive to the type for detecting ground medium by accurate analysis voice signal comprehensively.Its
In, it is the mistake that the signal-processing board carries out signal operation processing according to fast fourier transform algorithm that time domain, which is converted into frequency domain,
Journey, belongs to the Digital Signal Algorithm of common knowledge, this is repeated no more.
Specifically, high fdrequency component is that human ear can receive the highest frequency of voice signal by the value of preset ratio, and sound
The range of the response frequency range of sound sensor internal circuit is the frequency range that human ear can receive voice signal, so that high fdrequency component
Not more than human ear can receive the highest frequency of voice signal.It should be noted that the ear of the mankind can hear that sound is believed
Number highest frequency reach 20KHz, it is then ultrasonic signal that the frequency of voice signal, which is more than 20KHz, and the sound transducer is not
It can response；The low-limit frequency voice signal that the ear of the mankind can be heard reaches 20Hz, and the frequency of voice signal is then lower than 20Hz
Infrasound signal, the sound transducer can not respond.
As shown in Figures 2 and 3, high frequency points of the representative voice signal after time-frequency domain conversation are (corresponding on the right side of spectrogram horizontal axis
Frequency range is 20KHz or so), amplitude of these high frequency points on y direction is generally lower, and the Frequency point on the left of horizontal axis
(respective frequencies range be that the amplitude of 100Hz to 1000Hz) is relatively high and dense distribution on transverse axis, the energy master of voice signal
Low-frequency range is concentrated on, illustrates that the sound transducer is weaker to the responding ability of high-frequency signal.
In the present embodiment, high fdrequency component is highest frequency the taking by preset ratio that human ear can receive voice signal
Value, preset ratio are then set as 20%, and as shown in Figures 2 and 3, high fdrequency component selects the Frequency point on the right side of spectrogram horizontal axis, i.e.,
4031Hz, the 20% of highest frequency of voice signal can be received by being equivalent to human ear, can receive voice signal far from human ear
Highest frequency 20KHz, control high fdrequency component are fallen into the response frequency range of the sound transducer internal circuit, select 20% original
Because being that the amplitude of high frequency section is smaller and discrete distribution, and need the response frequency range in view of sound transducer internal circuit
The limitation of allowable range of error.The range value for the high fdrequency component for ensuring to extract is effective.
Under the present embodiment, the voice signal of the sound transducer acquisition is the mould of continuous harmonic superposition in the time domain
Quasi- waveform, including infinite number of sine-wave superimposed synthesize together, when waveform transforms from the time domain to frequency domain, decompose in time domain
Each sine wave out corresponds to a frequency component in frequency domain, and the collection of these frequency components and its amplitude is collectively referred to as frequency spectrum.?
In the present embodiment, the method that time domain transforms to frequency domain is Fourier transformation, and participates in the signal of Fourier transformation via simulation
Signal is transformed to digital signal, so, the spectrum analysis module is then used as digital display circuit, built-in Discrete Fourier Transform algorithm
Framework, transform from the time domain to frequency domain for realizing signal, carry out Fourier transformation relative to analog signal, reduce operation time
Number improves speed.The step realizes the real-time processing to voice signal especially suitable for combination high-speed hardware processor, and therefrom
The range value of the range value and the second frequency component that extract the high fdrequency component makees threshold value comparison analysis.
Step S4, judge whether the range value of the high fdrequency component is less than high frequency threshold value, be to enter step S5, otherwise return
Step S1 is returned, continues to control the sound transducer collected sound signal.Corresponding to abovementioned steps 3, corresponding default threshold
Value includes the high frequency threshold value and the low frequency threshold value.Wherein, high frequency threshold value is highest of the voice signal in the response frequency range
Amplitude variations experiment value that the harmonic signal of Frequency point is generated through carpet surface reflection and the reference amplitude that sets, low frequency threshold value are
Voice signal is tested in the amplitude variations that the harmonic signal of the lowest frequency points of the response frequency range is generated through carpet surface reflection
The reference amplitude for being worth and setting.Amplitude variations of the voice signal by carpet surface reflection indicate the correspondence in the response frequency range
The current amplitude of Frequency point changes relative to initial amplitude, obtains the carpet based on the Frequency point by test of many times and sentences threshold
Value is disconnected, and has been previously stored as subsequent judgement identification.The step is situated between by pre-set threshold value comparison through ground
The range value of the voice signal of matter reflection identifies ground media type, improves the accuracy of voice signal detection ground medium.
Specifically, the amplitude threshold of the Frequency point in high frequency section on corresponding frequency domain can be set according to the fall, it is right
The high frequency threshold value is answered, while the amplitude threshold of the Frequency point in low frequency section is set, corresponds to the low frequency threshold value.The step is logical
The signal amplitude that given threshold judges different sections on frequency domain is crossed, the effect of carpet detection can be improved, and be adapted to differently
The identification of face medium.Wherein, high-frequency signal above-mentioned is assimilation effect based on carpet surface to sound and the experiment value being arranged,
It is that can get by conventional laboratory facilities, the frequency of low frequency signal above-mentioned is the fundamental wave of original sound signal function decomposition
Frequency.
Step S5, determine that the mobile robot detects that carpet, i.e., the described ground medium to be detected are carpet.
Shown in Fig. 2 is the spectrogram of the reflected acoustic signature from hard floor, and what horizontal axis indicated is frequency, representative voice
Signal passes through transformed harmonic frequency value, and unit is Hz, and what the longitudinal axis indicated is range value, and representative voice signal is by frequency spectrum point
Analysis treated relative loudness information, the i.e. yield value relative to acquired original signal, unit is decibel, applicable reduction formula
It is dB=20log(V1/V2) (the corresponding voltage of V representative voice signal), if V1 numerical value is less than V2, that dB numerical value is reformed into
Negative.The corresponding range value of Frequency point of 50Hz is -64dB on the left of the spectrogram of Fig. 2, i.e., the described second frequency component is 50Hz,
Its range value is -64dB；The corresponding range value of Frequency point of 4031Hz is -66.3dB on the right side of the spectrogram of Fig. 2, i.e., the described high frequency
Component is 4031Hz, and range value is -66.3dB.It sees on the whole, the amplitude of the range value (- 66.3dB) of high band than low-frequency range
It is worth (- 64dB) small 2.3dB, the amplitude of each frequency band is floated less in spectrogram, and intensity of sound tends towards stability state.The shifting
Mobile robot hard place surface walk during, from inner components operating sound through ground return be suppressed amount compared with
Small, the amplitude of the Frequency point handled is higher than the high frequency threshold value set in the microprocessor.
When the mobile robot crosses on carpet from hard floor or floor tile, since carpet can absorb audio letter
Number, especially voice signal of the voice signal of high frequency on carpet relative to low frequency is absorbed obvious, shown in Fig. 3
It is the spectrogram of the reflected acoustic signature from carpet, what horizontal axis indicated is frequency, and representative voice signal is by transformed humorous
Wave frequency rate value, unit are Hz, and what the longitudinal axis indicated is range value, and representative voice signal is by spectrum analysis treated relative loudness
Information, the i.e. yield value relative to acquired original signal, unit are decibels, and applicable formula is dB=20log(V1/V2) (V generation
The corresponding voltage of table voice signal), if V1 numerical value is less than V2, that dB numerical value reforms into negative.50Hz on the left of the spectrogram of Fig. 3
The corresponding range value of Frequency point be -74.6dB, i.e., the described second frequency component is 50Hz, and range value is -74.6dB, hence it is evident that
Lower than the range value -64dB in Fig. 2 at same frequency point, relative drop (- 64dB)-(- 74.6dB)=10.6dB；The frequency spectrum of Fig. 3
The corresponding range value of Frequency point of figure right side 4031Hz is -86.6dB, i.e., the described high fdrequency component is 4031Hz, range value is -
86.6dB, hence it is evident that lower than the range value -66.3dB in Fig. 2 at same frequency point, relative drop (- 66.3dB)-(- 86.6dB)=
20.3dB；Compared to the signal amplitude on hard floor, the generally described sound transducer acquires and passes through the micro process
The amplitude that device spectrum analysis obtains can be substantially reduced.It sees on the whole simultaneously, the range value of the range value of high band than low-frequency range
About small 12dB or so.Above-mentioned be substantially reduced is used since the voice signal range value of each Frequency point is described using logarithm
Lesser number describes biggish dynamic range, also facilitates the expression of the spectrogram in Fig. 2 and Fig. 3, is conducive to amount of nonlinearity
Linear amount is converted to, so that range value is compared processing in same magnitude, the calculation resources of simplified processor reduce power consumption.
In above mentioned step S3, according to the amplitude distribution on each Frequency point based on voice signal on the frequency domain, and
In conjunction with the response frequency range of the sound transducer internal circuit, the range value of the high fdrequency component is extracted.In conjunction with Fig. 2 and Fig. 3
Analysis it is found that the low frequency no matter whether mobile robot walks on the same frequency point in carpet surface spectrogram is humorous
The range value fluctuation of wave signal less, be easy to cause erroneous judgement, so the amplitude that cannot only use low frequency signal carries out carpet detection
Judgement；And high frequency harmonic signals are absorbed in carpet surface and scatter obvious, can pass through the harmonic high frequency on same frequency point
Whether the range value variation of wave signal is come to detect the ground medium to be detected be carpet, but since ultrasonic signal is also high frequency
Signal, ultrasonic wave are almost completely absorbed on carpet.To sum up, the carpet detection method only needs the high fdrequency component
Judged, is compared to complete carpet detection by corresponding predetermined amplitude threshold value.
Preferably, the specific material of the numerical values recited of the preset threshold of abovementioned steps 3 and the ground medium to be detected
Qualitative correlation, the present embodiment can adjust the numerical values recited of the preset threshold according to ground media type, substantially and sound
The amplitude variations experiment value that the harmonic signal of Frequency point of the signal in the response frequency range is generated through corresponding material surface reflection
And the reference amplitude set, so that the cleaning assemblies (including water tank rag) for solving assembly is clean applicable on multimedium ground
Property problem.
All parts embodiment of the invention can be implemented in hardware, or to transport on one or more processors
Capable software module is realized, or is implemented in a combination thereof.In this system, PC is by realizing internet to equipment or device
Long-range control, the step of accurately controlling equipment or device each operation.The present invention is also implemented as executing here
Some or all device or device programs of described method are (for example, computer program and computer program produce
Product).Program of the invention, which is achieved, can store on a computer-readable medium, and the file or document tool that program generates
There is statistics available property, generates data report etc..It should be noted that above embodiment the present invention will be described rather than to this
Invention is limited, and those skilled in the art can be designed replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference symbol between parentheses should not be configured to limitations on claims.
Word "comprising" does not exclude the presence of element or step not listed in the claims.Word " one " located in front of the element or " one
It is a " do not exclude the presence of multiple such elements.The present invention can by means of include several different elements hardware and by
It is realized in properly programmed computer.If in the unit claim for listing dry systems, several in these systems
It can be and be embodied by the same item of hardware.The use of word first, second, and third does not indicate any suitable
Sequence.These words can be construed to title.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (6)
1. a kind of carpet detection method, which comprises the following steps:
Step 1, control mobile robot start sound transducer collected sound signal in ground medium motion to be detected；
Step 2, the voice signal for acquiring step 1 pre-process, and extract corresponding range value on predeterminated frequency component；
Whether the range value that step 3, judgment step 2 obtain is less than corresponding preset threshold, is to determine ground medium to be detected
For carpet, otherwise continue to control sound transducer collected sound signal；
Wherein, predeterminated frequency component is the frequency values in the response frequency range of sound transducer.
2. carpet detection method according to claim 1, which is characterized in that the preprocess method of the step 2 includes:
Corresponding electric signal is converted by the voice signal that the step 1 acquires；
The electrical signal amplification of control output, then carry out analog to digital conversion；
Electric signal after control analog to digital conversion is converted into frequency domain from time domain.
3. carpet detection method according to claim 2, which is characterized in that the step 2 specifically includes: according to the frequency domain
On each Frequency point based on voice signal on amplitude distribution, and in conjunction with the response of the sound transducer internal circuit frequency
Section, extracts the range value of high fdrequency component；Wherein, the predeterminated frequency component includes high fdrequency component；High fdrequency component is the sound
Answer the highest frequency of frequency range by the value of preset ratio.
4. carpet detection method according to claim 3, which is characterized in that the preset ratio is set as 20%.
5. carpet detection method according to claim 3, which is characterized in that the step 3 includes: to judge the high fdrequency component
Range value whether be less than high frequency threshold value, be to determine that the ground medium to be detected is carpet；Otherwise the sound is controlled to pass
Sensor array continues to acquire the voice signal on ground；Wherein, corresponding preset threshold includes high frequency threshold value.
6. carpet detection method according to claim 1, which is characterized in that the numerical values recited of the preset threshold and it is described to
The specific material for detecting ground medium is related.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110477814A (en) * | 2019-08-20 | 2019-11-22 | 珠海市一微半导体有限公司 | A kind of mobile robot for carpet detection |
| WO2021031395A1 (en) * | 2019-08-20 | 2021-02-25 | 珠海市一微半导体有限公司 | Correction method for determination threshold of floor medium and floor medium detection method |
| CN113075134A (en) * | 2021-03-22 | 2021-07-06 | 深圳市德明新微电子有限公司 | Target material analysis method and device applied to sweeper |
| CN114423323A (en) * | 2019-09-20 | 2022-04-29 | 尚科宁家运营有限公司 | Robot cleaner with acoustic surface type sensor |
| CN114571472A (en) * | 2020-12-01 | 2022-06-03 | 北京小米移动软件有限公司 | Ground attribute detection method and driving method for foot type robot and device thereof |
| CN115349778A (en) * | 2022-08-15 | 2022-11-18 | 奥比中光科技集团股份有限公司 | Control method and device of sweeping robot, sweeping robot and storage medium |
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